JP4881702B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device including a plurality of control units, and more particularly to a control technique for stopping output to a motor when an abnormality occurs.

  2. Description of the Related Art Conventionally, as shown in FIG. 5, for example, as shown in FIG. 5, a motor control device composed of a plurality of control units is composed of an upper control unit 1 ′ and a lower control unit 2 ′. The processing circuit 11 ′ includes a speed control unit 112 ′ constituting a speed control system of the motor 3 ′, and an input / output processing unit 113 for processing an input signal from an external host device. ', An abnormality monitoring unit 114' for monitoring an abnormality on the control unit 2 'side based on a signal from the control unit 2', and a communication interface unit 111 'for communicating with the control unit 2' by a serial signal I have. Further, the control unit 2 ′ includes a processing circuit 21 ′ that performs signal processing and calculation, and a driving circuit 22 ′ that forms a driving signal for the motor, and the processing circuit 21 ′ performs current control of the motor 3 ′. A current control unit 212 ′, an abnormality detection unit 214 ′ that detects an abnormal state of the control unit 2 ′, and a communication interface unit 211 ′ that performs serial signal communication with the control unit 1 ′ are provided. The control unit 1 ′ transmits a control signal as a serial signal to the control unit 2 ′, and the control unit 2 ′ is a signal indicating a control state in the control unit 2 ′ as a serial signal to the control unit 1 ′. Send.

  Moreover, as a prior art related to the present invention and described in the patent document, for example, there is one described in Japanese Patent Application Laid-Open No. 2006-157387 (Patent Document 1). In JP-A-2006-157387, a plurality of control units are dispersedly arranged on a transmission line in order to reduce the abnormality detection time of a control microcomputer and to reliably distinguish between a microcomputer abnormality and a serial communication abnormality. A configuration is described in which the control unit includes a control microcomputer and a serial communication controller that monitors whether there is an abnormality in the control microcomputer, and the serial communication controller exchanges data between the control units by serial communication.

JP 2006-157387 A

In the conventional motor control device shown in FIG. 5, normal serial communication cannot be performed when the serial signal becomes abnormal between the control units 1 ′ and 2 ′ due to noise or the like. The signal from the unit 2 ′ may be erroneously recognized, or the control unit 2 ′ may not normally receive the command signal from the control unit 1 ′. Depending on the erroneous recognition, an incorrect control signal is sent from the control unit 1 ′ to the control unit 2 ′, and the control unit 2 ′ malfunctions thereby causing the motor 3 ′ to malfunction. Even when erroneous reception is performed, the control unit 2 ′ performs erroneous control on the motor 3 ′ and causes the motor 3 ′ to malfunction. Further, depending on the erroneous recognition or erroneous reception, for example, the abnormality is recognized after the abnormality is detected in the control unit 2 ′, and it takes time until the operation of the motor is stopped, and the dangerous state continues for a long time. Can happen.
In view of the above-described prior art, the problem of the present invention is that in the motor control device having the upper control unit and the lower control unit, when an abnormality occurs, erroneous recognition and reception between the two control units. Is to prevent recognition delay and delay of motor operation stop operation.

In order to solve the above-described problems, in the present invention, in the motor control device having the first control unit as the upper control unit and the second control unit as the lower control unit as the motor control device, It performs serial communication between the control unit, when an abnormality occurs, the second control unit that generates an alarm signal toward the first control unit sends the alarm signal, the control unit of the first is, formation and change information of the signal received from the control unit of the second Ri by the serial communication based on the above alarm signal, a signal for stopping the formation of drive signals for driving the motor in the second control unit The signal is transmitted to the second control unit side by serial communication. By combining the signals and alarm signals by serial communication, to prevent a malfunction resulting from erroneous recognition of the abnormality information in the serial communication, also, in the configuration it provided a plurality of second control unit, the time to recognize the abnormality And the time to stop motor operation can be shortened.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the motor control apparatus which improved reliability rather than the conventional serial communication.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram illustrating a configuration example of a motor control device according to a first embodiment of the present invention. The motor control apparatus according to the first embodiment includes one upper control unit and one lower control unit.

  In FIG. 1, reference numeral 100a denotes a motor control device, 1 denotes a first control unit as an upper control unit, 2 denotes a second control unit as a lower control unit, 3 denotes a motor as a load, and 11 denotes a first control unit. The first processing circuit 111 in the first control unit 1 that performs signal processing and computations is connected to the second control unit 2 in the first processing circuit 11 by serial signals 31 and 32. A communication interface unit that performs communication, 112 is a speed control unit that constitutes a speed control system of the motor 3, 113 is an input / output processing unit that processes an input signal from an external host device, and 114 is a second control unit 2 is an abnormality monitoring unit that monitors an abnormality on the second control unit 2 side based on the alarm signal 33 from 2, a second processing circuit that is in the second control unit 2 and performs signal processing and calculation, 211 is in the 2nd processing circuit 21, and is the 1st control part 1 A communication interface unit that communicates with the communication interface unit 111 using serial signals 31 and 32, 212 is a current control unit that constitutes a current control system of the motor 3, and 214 is an abnormal state of the second control unit 2. An abnormality detection unit 22 that performs detection to form an alarm signal 33 and transmits the formed alarm signal 33 to the abnormality monitoring unit 114 of the first control unit 1 forms a drive signal for the motor 3 based on the PWM output. It is a drive circuit.

  A serial signal 31 as a first signal for controlling the driving state of the motor 3 is sent from the communication interface unit 111 of the first control unit 1 to the communication interface unit 211 of the second control unit 1. Conversely, the serial signal 32 as the second signal indicating the control state of the motor 3 is sent from the communication interface unit 211 to the communication interface unit 111. The serial signal 31 as the first signal for controlling the driving state of the motor 3 is output from the speed control unit 112 or from the abnormality monitoring unit 114 in the first processing circuit 11 of the first control unit 1. It is formed based on an output signal or the like. Further, the serial signal 32 as the second signal indicating the control state of the motor 3 is output from the output signal from the current control unit 212 or the abnormality detection unit 214 in the second processing circuit 21 of the second control unit 2. It is formed based on the output signal of.

  In the above configuration, when noise or other abnormality occurs in the second control unit 2, the abnormality detection unit 214 generates an alarm signal 33 such as a voltage signal and the abnormality monitoring unit 114 of the first control unit 1. Output toward. At this time, the serial signal 32 as the second signal indicating the control state of the motor 3 also changes in response to the abnormality that has occurred, and the changed serial signal 32 is transferred from the communication interface unit 211 to the communication interface unit 111. Sent. In the first control unit 1, in the first processing circuit 11, the communication interface unit 111 receives the changed serial signal 32 as change information of the second signal, and the abnormality monitoring unit 114 outputs an alarm signal. Upon reception, the first processing circuit 11 forms a first signal for stopping the formation of the drive signal in the drive circuit 22 of the second control unit 2 based on the changed serial signal 32 and the alarm signal. Then, this is output as a serial signal 31 from the communication interface unit 111 to the communication interface unit 211. The first processing circuit 11 is configured to monitor the alarm signal 33 and the changed serial signal 32 over a preset time. Further, in the first processing circuit 11, when the abnormality monitoring unit 114 compares the level of the received alarm signal 33 with a preset reference level, as a result of comparison, the level of the alarm signal 33 exceeds the reference level. It is determined that an abnormality has occurred. When the abnormality monitoring unit 114 makes this determination, the first processing circuit 11 forms the first signal for stopping the formation of the drive signal in the drive circuit 22 of the second control unit 2 as described above. This is output as a serial signal 31 from the communication interface unit 111 to the communication interface unit 211.

  Further, the first processing circuit 11 is in a state where the change information of the second signal is inputted as the serial signal 32, and the level of the alarm signal 33 is set in advance over a preset reference time. Even when the reference level is lower than the reference level, it is determined that an abnormality has occurred in the second control unit 2, the first control unit 1, or between the first and second control units. A first signal for stopping signal formation is formed and output.

  As described above, the first processing circuit 11 monitors both the alarm signal 33 and the changed serial signal 32 over a preset time, and if the level of the alarm signal 33 exceeds the reference level, an abnormality occurs. Is generated, a first signal for stopping the formation of the drive signal in the drive circuit 22 of the second control unit 2 is formed and output as the serial signal 31. That is, the occurrence of an abnormality is determined based on both the occurrence of the alarm signal 33 exceeding the reference level and the occurrence of the changed serial signal 32. Therefore, even if only the changed serial signal 32 is generated, when the alarm signal 33 exceeding the reference level is not generated, no abnormality has occurred in the second control unit 2 and only the serial signal 32 is generated. However, for example, it is determined that there is only a temporary change between the first control unit 1 and the second control unit 2 due to noise or the like, and it is determined that an abnormality that should stop the operation of the motor has occurred. Not misrecognized. On the contrary, even if the alarm signal 33 exceeding the reference level is generated or the changed serial signal 32 is not generated, the alarm signal 33 is merely temporarily generated due to noise or the like. Therefore, it is not determined that an abnormality that should stop the operation of the motor has occurred, and erroneous recognition is not performed.

  According to the motor control device 100a of the first embodiment, the serial signals 31 and 32 and the alarm signal 33 are used in combination, so that no abnormality occurs in the second control unit 2. It is possible to avoid erroneous recognition that the motor control device 100a and the motor 3 are malfunctioning.

FIG. 2 is a diagram illustrating a configuration example of a motor control device according to a second embodiment of the present invention. The motor control apparatus according to the second embodiment is a configuration in which two lower control units are connected to one upper control unit.
In FIG. 2, 100b is a motor control device, 1 is a first control unit as an upper control unit, 2a and 2b are respectively second control units as lower control units, and 3a and 3b are respectively loads. The motor 11 is in the first control unit 1 and is a first processing circuit that performs signal processing and computations. The 111 is in the first processing circuit 11 and is connected to the second control units 2a and 2b. A communication interface unit that performs communication using a serial signal 31 as a first signal and a serial signal 32 as a second signal, 112 is a speed control unit that constitutes a speed control system of the motors 3a and 3b, and 113 is An input / output processing unit 114 that processes an input signal from an external host device monitors an abnormality on the second control unit 2a, 2b side based on an alarm signal 33 from the second control unit 2a, 2b. The monitoring unit 21a A second processing circuit 211a, which is in the second control unit 2a and performs signal processing and calculation, is connected to the communication interface unit 111 of the first control unit 1 in the second processing circuit 21a. A communication interface unit that performs communication using a serial signal 31 as a first signal and a serial signal 32a as a second signal, 212a is a current control unit that constitutes a current control system of the motor 3a, and 214a is a second control unit. An abnormality detection unit 22a that detects an abnormal state of the unit 2a, generates an alarm signal 33a, and transmits the formed alarm signal 33a to the abnormality monitoring unit 114 of the first control unit 1, and the motor 3a based on the PWM output The drive circuit for generating the drive signal 21b is in the second control unit 2b and is a second processing circuit for performing signal processing and computation, and 211b is in the second processing circuit 21b. The communication interface unit 212b performs communication with the communication interface unit 111 of the first control unit 1 by the serial signal 31 as the first signal and the serial signal 32b as the second signal, and 212b is a current of the motor 3b. The current control unit 214b constituting the control system detects an abnormal state of the second control unit 2b, forms an alarm signal 33b, and uses the formed alarm signal 33b as the abnormality monitoring unit 114 of the first control unit 1. An abnormality detection unit 22b that transmits to the motor 3b is a drive circuit that forms a drive signal for the motor 3b based on the PWM output.

  In the above configuration, when an abnormality occurs in the second control unit 2a, the abnormality detection unit 214a generates an alarm signal 33a and outputs the alarm signal 33a toward the abnormality monitoring unit 114 of the first control unit 1. At this time, the serial signal 32a as the second signal indicating the control state of the motor 3a also changes corresponding to the abnormality that has occurred, and the changed serial signal 32a is transferred from the communication interface unit 211a to the communication interface unit 111. Sent. In the first control unit 1, in the first processing circuit 11, the communication interface unit 111 receives the changed serial signal 32a as the second signal change information, and the abnormality monitoring unit 114 receives the alarm signal 33a. The first processing circuit 11 receives the drive signal in the drive circuit 22a of the second control unit 2a and the drive of the second control unit 2b based on the changed serial signal 32a and the alarm signal 33a. A first signal for stopping the formation of the drive signal in the circuit 22b is formed, and this is converted into a serial signal 31 from the communication interface unit 111 to the communication interface unit 211a of the second control unit 2a and the communication of the second control unit 2b. The data is output toward the interface unit 211b. The first processing circuit 11 is configured to monitor the alarm signal 33a and the changed serial signal 32a over a preset time. Further, in the first processing circuit 11, the abnormality monitoring unit 114 compares the level of the received alarm signal 33a with a preset reference level, and as a result of the comparison, the level of the alarm signal 33a exceeds the reference level. It is determined that an abnormality has occurred. When the abnormality monitoring unit 114 makes the determination, the first processing circuit 11 determines the drive signals in the drive circuit 22a of the second control unit 2a and the drive circuit 22b of the second control unit 2b as described above. A first signal for stopping the formation is formed, and is output as a serial signal 31 from the communication interface unit 111 to the communication interface units 211a and 211b.

  Further, the first processing circuit 11 is in a state where the change information of the second signal is input as the serial signal 32a, and the level of the alarm signal 33a is set in advance over a preset reference time. Even when the reference level is lower than the reference level, it is determined that an abnormality has occurred in the second control unit 2a, the first control unit 1, or between the first and second control units, and the drive circuits 22a and 22b. A first signal for stopping the formation of the drive signal is formed and output.

  As described above, the first processing circuit 11 monitors both the alarm signal 33a and the changed serial signal 32a over a preset time, and if the level of the alarm signal 33a exceeds the reference level, an abnormality occurs. Is generated, a first signal for stopping the formation of the drive signal in the drive circuit 22a of the second control unit 2a and the drive circuit 22b of the second control unit 2b is formed and output as the serial signal 31 . That is, the occurrence of an abnormality is determined based on both the occurrence of the alarm signal 33a exceeding the reference level and the occurrence of the changed serial signal 32a. Therefore, even if only the changed serial signal 32a is generated, when the alarm signal 33a exceeding the reference level is not generated, no abnormality has occurred in the second control unit 2a, and only the serial signal 32a is generated. However, for example, it is determined that there is only a temporary change between the first control unit 1 and the second control unit 2a due to noise or the like, and erroneous recognition is not performed.

  The case where an abnormality occurs in the second control unit 2b is the same as the case where an abnormality occurs in the second control unit 2a. That is, when an abnormality occurs in the second control unit 2b, the abnormality detection unit 214b generates an alarm signal 33b and outputs it to the abnormality monitoring unit 114 of the first control unit 1. At this time, the serial signal 32b as the second signal indicating the control state of the motor 3b also changes corresponding to the abnormality that has occurred, and the changed serial signal 32b is transferred from the communication interface unit 211b to the communication interface unit 111. Sent. In the first control unit 1, in the first processing circuit 11, the communication interface unit 111 receives the changed serial signal 32b as the change information of the second signal, and the abnormality monitoring unit 114 receives the alarm signal 33b. The first processing circuit 11 receives the first signal for stopping the formation of the drive signal in the drive circuit 22b of the second control unit 2b based on the changed serial signal 32b and the alarm signal 33b. Is output as a serial signal 31 from the communication interface unit 111 to the communication interface unit 211b of the second control unit 2b and the communication interface unit 211a of the second control unit 2a. The first processing circuit 11 monitors the alarm signal 33b and the changed serial signal 32b over a preset time. In the first processing circuit 11, the abnormality monitoring unit 114 compares the level of the received alarm signal 33b with a preset reference level. As a result of the comparison, the level of the alarm signal 33b exceeds the reference level. It is determined that an abnormality has occurred. When the abnormality monitoring unit 114 makes the determination, the first processing circuit 11 determines the drive signals in the drive circuit 22b of the second control unit 2b and the drive circuit 22a of the second control unit 2a as described above. A first signal for stopping the formation is formed, and is output as a serial signal 31 from the communication interface unit 111 toward the communication interface units 211b and 211a.

  Further, the first processing circuit 11 is in a state where the change information of the second signal is input as the serial signal 32b, and the level of the alarm signal 33b is set in advance over a preset reference time. Even when the reference level is lower than the reference level, it is determined that an abnormality has occurred in the second control unit 2b, the first control unit 1, or between the first and second control units, and the drive circuits 22b and 22a. A first signal for stopping the formation of the drive signal is formed and output.

As described above, the first processing circuit 11 monitors both the alarm signal 33b and the changed serial signal 32b over a preset time, and if the level of the alarm signal 33b exceeds the reference level, an abnormality occurs. Is generated, a first signal for stopping the formation of the drive signal in the drive circuit 22b of the second control unit 2b and the drive circuit 22a of the second control unit 2a is formed and output as the serial signal 31 . That is, the occurrence of an abnormality is determined based on both the occurrence of an alarm signal 33b exceeding a reference level and the occurrence of a changed serial signal 32b. Therefore, even if only the changed serial signal 32b is generated, when the alarm signal 33b exceeding the reference level is not generated, no abnormality has occurred in the second control unit 2b, and only the serial signal 32b is generated. However, for example, it is determined that there is only a temporary change between the first control unit 1 and the second control unit 2b due to noise or the like, and it is determined that an abnormality that should stop the operation of the motor has occurred. Not misrecognized. Conversely, even if the alarm signal 33b exceeding the reference level is generated and the changed serial signal 32b is not generated, the alarm signal 33b is merely generated temporarily due to noise or the like. Therefore, it is not determined that an abnormality that should stop the operation of the motor has occurred, and erroneous recognition is not performed.
Further, in the motor control device 100b of FIG. 2, it is possible to shorten the time until the abnormality that has occurred is recognized and the time until the motor 3a or 3b is stopped.
The components of the motor control device of FIG. 2 used in the following description are used with the same reference numerals as in FIG.

  3 and 4 are explanatory diagrams of the operation timing at which the first control unit 1 recognizes the abnormality when the abnormality occurs in the motor control device 100b of FIG. 2 and the operation timing of the operation stop of the motors 3a and 3b. It is. FIG. 3 is an explanatory diagram of the operation timing in the motor control device 100b of FIG. 2 when an abnormality occurs in the second control unit 2a and the occurrence of the abnormality is recognized only by a serial signal without using an alarm signal. It is. FIG. 4 shows a case where the occurrence of an abnormality is recognized based on an alarm signal and a serial signal as shown in FIG. 2 when an abnormality occurs in the second control unit 2a in the motor control device 100b of FIG. Is the operation timing. In each figure, the horizontal axis is the time axis.

In Fig. 3, (a) shows each of the unit signals _S 1-1 _{to S 1-5} of the serial signal 31 output from the first control unit 1 of the communication interface unit 111, (b), the second The unit signals S _{2a-1 to} S _2a-2 of the serial signal 32a output from the communication interface unit 211a of the control unit 2a are shown, and (c) is output from the communication interface unit 211b of the second control unit 2b. The unit signals S _{2b-1 to} S _2b-2 of the serial signal 32b are shown, (d) shows the abnormality detection state by the abnormality detection unit 214a of the second control unit 2a, (e) 1 shows an abnormality recognition state by the abnormality monitoring unit 114 of the first control unit 1, (f) shows a driving state of the drive circuit 22a in the second control unit 2a, and (g) shows in the second control unit 2b. Driving the drive circuit 22b It shows the state. Serial signal 31 (a), the serial signal 32b of the serial signal 32a, (c) of (b) is a unit signal _S 1-1 _{to S 1-5,} the unit signal _{S 2a-1 ~S 2a- 2} and unit signals S _{2b-1 to} S _2b-2 are S _1-1 , S _2a-1 , S _1-2 , S _2b-1 , S _1-3 , S _2a-2 , S _{1-. 4} , S _2b-2 , S _1-5 are output in this order.

3, for example, an error occurs in the second control unit 2a, the abnormality detecting unit 214a at time t ₁ is that it has detected an abnormality. In this case, the abnormality detection state by the abnormality detection unit 214a changes as shown in (d). The processing circuit 21a forms a control signal corresponding to the state change and sends it to the drive circuit 22a. The drive circuit 22a changes the PWM output forming the drive signal of the motor 3a from the ON state based on the control signal. Turn off ((f)). When the PWM output is turned off, the drive signal output to the motor 3a is stopped. Further, when the abnormality detection unit 214a detects an abnormality, the second control unit 2a is in an abnormal state as a serial signal 32a as a second signal from the communication interface unit 211a of the second control unit 2a. a unit signal _{S 2a-2} to inform the first control unit 1, and transmits to the communication interface unit 111 of the control unit 1 of said 1 ((b)). When the communication interface unit 111 receives this, the processing circuit 11 of the first control unit 1 receives the all-axis stop command signal, that is, the unit signal _S1-4 as the serial signal 31 as the first signal based on this. Then, this is transmitted to the processing circuit 21a of the second control unit 2a and the processing circuit 21b of the second control unit 2b ((a)). The unit signals _{S 1-4} is in the OFF state of the PWM output for forming a drive signal in the drive circuit 22b of the second control unit 2b from the ON state ((g)). Processing circuit 21b of the second control unit 2b receives the unit signal S _1-4, forms a control signal is input to the driving circuit 22b based on this. Based on the control signal, the drive circuit 22b changes the PWM output from the ON state to the OFF state at the time point t ₃ ′, and stops the drive signal output to the motor 3b.

As described above, without using the alarm signal, when recognizing the occurrence of an abnormality only by the serial signal, after the abnormality is detected at time t _1, the unit signal S _2b-1 of the serial signal 32b is transmitted, Thereafter, the unit signal _S1-3 of the serial signal 31 is transmitted, and thereafter, the unit signal _{S2a-2 of} the serial signal 32a is transmitted, and the first controller 1 receives at least the unit signal S2a _-2 . The occurrence of abnormality is recognized for the first time at time t ₂ ′ after the end time of the unit signal S _2a-2 ((e)), and the PWM in the drive circuit 22b is detected at time t ₃ ′ with respect to the second control unit 2b. Turn off the output. The time from when an abnormality is detected until it is recognized, that is, the abnormality recognition delay Δt ₁ ′ is Δt ₁ ′ = t ₂ ′ −t ₁ , and the alarm state monitoring period T (the serial signal 32a unit signal and serial Longer than the repetitive period between the signal 32b and the unit signal. In addition, the time from when the PWM output in the drive circuit 22a of the second control unit 2a changes to the OFF state until the PWM output in the drive circuit 22b of the second control unit 2b enters the OFF state, that is, the interruption delay Δt ₂ 'Is Δt ₂ ' = t ₃ '-t _1, which is longer than the abnormality recognition delay Δt ₁ '.
The abnormality recognition delay Δt ₁ ′ and the cutoff delay Δt ₂ ′ can be shortened by using an alarm signal together with a serial signal.

FIG. 4 is an explanatory diagram of operation timing when the occurrence of an abnormality is recognized based on an alarm signal and a serial signal when an abnormality occurs in the second control unit 2a in the motor control device 100b of FIG.
4, (a) shows each unit signal S _{1-1 to} S _1-5 of the serial signal 31 output from the communication interface unit 111 of the first control unit 1, as in FIG. 3B also shows the unit signals S _{2a-1 to} S _2a-2 of the serial signal 32a output from the communication interface unit 211a of the second control unit 2a, as in the case of FIG. 3, and FIG. Similarly to the case of FIG. 3, the unit signals S _{2b-1 to} S _2b-2 of the serial signal 32b output from the communication interface unit 211b of the second control unit 2b are shown. (D) shows an abnormality detection state by the abnormality detection unit 214a of the second control unit 2a, that is, an alarm signal 33a output from the abnormality detection unit 214a, and (e) shows a processing circuit 11 of the first control unit 1. This shows the abnormal recognition state. The processing circuit 11 uses the alarm signal 33a determined to exceed the reference level received by the abnormality monitoring unit 114, and the serial signal 32b received by the communication interface unit 111 to indicate the abnormality occurring in the second control unit 2a. Recognize. That is, the alarm signal 33a, the unit signal _{S 2b-1} Metropolitan of the first serial signal 32b after the time _{t 1} that the alarm signal 33a is generated, the formation of the drive signal in the drive circuit 22b of the second control unit 2b A first signal to be stopped is formed, and this is output as a serial signal 31 from the communication interface unit 111 toward the communication interface unit 211b of the second control unit 2b. (F) shows the drive state of the drive circuit 22a in the second control unit 2a, and (g) shows the drive state of the drive circuit 22b in the second control unit 2b. As for the serial signal 32a of (b) and the serial signal 32b of (c), unit signals S2a _{-1 to} S2a _-2 and unit signals _{S2b-1 to} S2b _-2 are alternately output.

4, the abnormality detecting unit 214a at time t ₁ detects an abnormality abnormality in the second control unit 2a has occurred. In this case, the abnormality detection unit 214a generates an alarm signal 33a in the state (d). In the second control unit 2a, the processing circuit 21a generates a control signal corresponding to the alarm signal 33a and sends it to the drive circuit 22a. The drive circuit 22a drives the motor 3a based on the control signal. The PWM output forming the signal is changed from the ON state to the OFF state ((f)). When the PWM output is turned off, the drive signal output to the motor 3a is stopped. The processing circuit 21a, and the alarm signal 33a, the unit signal _{S 2b-1} Metropolitan of the first serial signal 32b after the time point _{t 1,} (the end or shortly thereafter example unit signal _{S 2b-1)} time _{t 2} Is recognized ((e)), and based on the recognition result, an all-axis stop command signal, that is, a unit signal _S1-3 is formed as the serial signal 31, and this is generated as a processing circuit 21a of the second control unit 2a. To the processing circuit 21b of the second control unit 2b ((a)). Processing circuit 21b of the second control unit 2b receives the said unit signals S _1-3, forms a control signal is input to the driving circuit 22b based on this. Driving circuit 22b, based on the control signal, the OFF state PWM output from the ON state at time _{t 3} ((g)), and stops the drive signal output to the motor 3b.

As described above, the first control unit 1 of the processing circuit 11, after the abnormality is detected at time t _1, the combined use of the unit signal S _2b-1 of the alarm signal 33a and the serial signal 32b, when the abnormality was recognized in t _2, in a subsequent time point _{t 3} when the unit signal _{S 1-3} of the serial signal 31 is transmitted, to the second control unit 2b, to the PWM output of the drive circuit 22b to the OFF state. The time from when the abnormality is detected until it is recognized, that is, the abnormality recognition delay Δt ₁ is Δt ₁ = t ₂ −t ₁ , and the alarm state monitoring period T (the unit signal of the serial signal 32a and the unit of the serial signal 32b) 3 is shorter than the case of FIG. 3 described above. As a result of the recognition of the abnormal occurrence in the time _{t 2} is performed, the PWM output from the PWM output of the drive circuit 22a of the second control unit 2a is changed to the OFF state in the drive circuit 22b of the second control unit 2b The time until the switch enters the OFF state, that is, the interruption delay Δt ₂ is also Δt ₂ = t ₃ −t ₁ , which is significantly shortened compared to the case of FIG.

  As described above, according to the motor control apparatus 100b of the second embodiment, the serial signal 31, 32b and the alarm signal 33a are used in combination to turn off the time until the abnormality is recognized and the PWM output. Thus, the time until the motor 3b is stopped can be shortened. Further, by using the serial signal 32b and the alarm signal 33a in combination, it is possible to avoid erroneous recognition that has occurred even though no abnormality has occurred in the second control unit 2a, and malfunction of the motor 3b can also be avoided. Can be prevented.

  2 to 4 and the description thereof are cases where an abnormality has occurred in the second control unit 2a in the motor control device 100b of the second embodiment, but in the other second control unit 2b. When an abnormality occurs, the serial signals 31, 32a and the alarm signal 33b are used in combination to recognize the abnormality that has occurred and to turn off the PWM output, and to generate the serial signal 32a and the alarm signal 33b. By using it together, it is possible to avoid erroneous recognition that has occurred even though no abnormality has occurred in the second control unit 2b, and it is possible to prevent malfunction of the motor 3a. Other operations, functions, and effects of the other parts are the same as those in the case where an abnormality occurs in the second control unit 2a.

  In the motor control device 100b of FIG. 2 described above, two lower control units (second control units) are connected to one upper control unit (first control unit). However, the present invention is not limited to this, and a configuration in which three or more subordinate control units (second control units) are connected to one upper control unit (first control unit) is also possible. Good.

1 is a configuration example diagram of a motor control device as a first embodiment of the present invention; It is a structural example figure of the motor control apparatus as 2nd Example of this invention. In the motor control apparatus of FIG. 2, it is operation | movement explanatory drawing when there is no alarm signal. FIG. 3 is an operation explanatory diagram when there is an alarm signal in the motor control device of FIG. 2. It is a block diagram of a conventional motor control device.

Explanation of symbols

100a, 100b ... motor control device,
1 ... 1st control part,
2, 2a, 2b ... second control unit,
3, 3a, 3b ... motor,
11: First processing circuit,
111, 211, 211a, 211b ... communication interface unit,
112 ... speed control unit,
113 ... Input / output processing unit,
114 ... an abnormality monitoring unit,
21, 21 a, 21 b... Second processing circuit,
212, 212a, 212b ... current control unit,
214, 214a, 214b ... abnormality detection unit,
22, 22a, 22b ... drive circuit,
31, 32, 32a, 32b ... serial signal,
33, 33a, 33b ... alarm signals.

Claims (6)

A motor control device for controlling a driving state of a motor,
A first control unit as a high-order control unit including a first processing circuit that forms and outputs a first signal for controlling the driving state of the motor;
A drive circuit that generates and outputs a drive signal for driving the motor based on the first signal, and a second signal that indicates a control state of the motor to form the first signal of the first control unit. A second control unit as a lower-level control unit including a second processing circuit that transmits to the processing circuit side and generates an alarm signal when an abnormality occurs and transmits the alarm signal to the first processing circuit side;
Comprising
Serial communication using the first and second signals is performed between the first control unit and the second control unit. When an abnormality occurs, the first processing circuit receives the second signal received by the serial communication . A motor control device characterized in that a first signal for stopping the formation of the drive signal in the drive circuit is output based on the change information of the signal and the level of the received alarm signal. 2. The motor control device according to claim 1, wherein the first processing circuit is configured to monitor change information of the second signal received by the serial communication and the alarm signal over a preset time . The first processing circuit determines that an abnormality has occurred in the second control unit when the level of the alarm signal generated by the second processing circuit exceeds a preset reference level. 3. The motor control device according to claim 1, wherein the motor control device is configured to output a first signal for stopping formation of the drive signal in the drive circuit in the second control unit. A motor control device for controlling a driving state of a motor,
A first control unit including a first processing circuit that forms and outputs a first signal for controlling the driving state of the motor;
A drive circuit that generates and outputs a drive signal for driving the motor based on the first signal, and a second signal that indicates a control state of the motor to form the first signal of the first control unit. A second control unit including a second processing circuit that transmits to the processing circuit side and generates an alarm signal when an abnormality occurs and transmits the alarm signal to the first processing circuit side;
Comprising
Serial communication using the first and second signals is performed between the first control unit and the second control unit, and when an abnormality occurs, the first processing circuit performs the second signal using the serial communication. the change information, based on the above alarm signal is configured to output a first signal for stopping the formation of the drive signal in the drive circuit, and said first processing circuit, the second signal Even when the change information is input and the level of the alarm signal is equal to or lower than a preset reference level over a preset reference time, first control unit or the first, it is determined that an abnormality between the second control unit has occurred, characterized by a configuration for outputting a first signal for stopping the formation of the drive signal in the drive circuit A motor control device. A motor control device for controlling a driving state of a motor,
A first control unit as a high-order control unit including a first processing circuit that forms and outputs a first signal for controlling the driving state of the motor;
A drive circuit that generates and outputs a drive signal for driving the motor based on the first signal, and a second signal that indicates a control state of the motor to form the first signal of the first control unit. A second control unit as a lower control unit having a second processing circuit that transmits to the processing circuit side and generates an alarm signal when an abnormality occurs and transmits the alarm signal to the first processing circuit side;
Comprising
Serial communication using the first and second signals is performed between the first control unit and the second control unit. When an abnormality occurs, the first processing circuit receives the second signal received by the serial communication . Before recognizing a change in the signal, a motor control device is configured to output a first signal for stopping the formation of the drive signal in the drive circuit based on the alarm signal. The second control unit as the low order control unit, provided with a plurality corresponding to the plurality of motors, each of the second control unit of several plurality is, the first control as the higher control unit Serial communication is performed with the first and second signals between the first and second units. When an abnormality occurs , the second control unit that has generated the alarm signal transmits the alarm signal to the first control unit, The first processing circuit of the first control unit outputs the alarm signal of the plurality of second control units based on the level of the alarm signal generated in any of the plurality of second control units. The motor control device according to claim 5, wherein the motor control device is configured to output a first signal that stops generation of a drive signal in the drive circuit although it has not occurred.

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